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| == Ubuntu Server 8.04 Installation ==
| | ''See [[pc104/Archive]] for information on the Ubuntu Server installation and tests that we performed to get rid of the laptop dependency. There are a couple of unresolved issues with that method (dragonfly cameras and Canbus), therefore for now we went back to the original setup, explained below.'' |
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| On 2009-05-21, we installed Ubuntu '''Server''' 8.04 'Hardy Heron' on a brand new 4GB Flash IDE memory.
| | The pc104 CPU board that is attached to our iCub boots from a read-only memory. |
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| First of all, we changed the BIOS setting ''First Boot Device'' to: USB-CDROM. We had a Ubuntu Server 8.04 CD inside the drive. (It is apparently possible to boot and install directly from a Flash memory, but a CDROM installation is easier.)
| | After booting, it mounts a part of the hard-disk of icubsrv (the laptop, IP address 10.10.1.51). |
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| Here is our configuration on Ubuntu Server 8.04:
| | After that, it runs the scripts that are found in /exports/code-pc104/pc104/hooks. |
| * hostname: pc104
| | You can use those scripts for making some configuration permanent on pc104 and/or to run programs. |
| * automatic partitioning (which will partition the 4GB drive into an ext3 and a swap partition)
| | They set up the yarp namespace, start yarp run, configure the keys for passwordless log-ins, etc. |
| * username: icub
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| * no HTTP proxy
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| * software selection: OpenSSH (which includes scp to copy files among machines), nothing else
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| | |
| After a while, the CDROM will eject automatically. Remove it and, after reboot, change the BIOS boot sequence settings to the default, which is:
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| * Primary Boot Device: Hard Disk
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| * Second Boot Device: Disabled
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| * Third Boot Device: Disabled
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| At this point we have a minimal Linux system (474MB).
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| === Network ===
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| Change the IP to 10.10.1.50 by editing /etc/network/interfaces in the following way:
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| auto lo
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| iface lo inet loopback
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| auto eth0
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| iface eth0 inet static
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| address 10.10.1.50
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| netmask 255.255.255.0
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| network 10.10.1.0
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| broadcast 10.10.1.255
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| gateway 10.10.1.254
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| Add the following lines in /etc/hosts (besides the already-existing lines):
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| 10.10.1.52 chico2
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| 10.10.1.1 cortex1
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| 10.10.1.2 cortex2
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| 10.10.1.3 cortex3
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| 10.10.1.4 cortex4
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| 10.10.1.5 cortex5
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| 10.10.1.6 cortex6
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| Then, copy the content of directory ~/.ssh/ from a machine we have used in the past to connect to pc104 (e.g., icubsrv or chico2) to the pc104 itself. This will permit passwordless login sessions, necessary for yarprun and demos.
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| On the other machines of the network which we use to connect to pc104 (e.g., chico2, cortex cluster) you might need to delete a line of your ~/.ssh/known_hosts file (the "offending line" which contains an old key -- follow the ssh error message and just delete that line).
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| Now, passwordless logins to pc104 should be no problem from the other machines.
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| == After the installation ==
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| Install the following packages:
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| sudo apt-get install gcc g++ cmake make cvs subversion ssh libace-dev libgsl0-dev
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| Write this at the bottom of ~/.bashrc
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| YARP_DIR=/home/icub/yarp2/
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| export YARP_DIR
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| YARP_ROOT=$YARP_DIR
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| export YARP_ROOT
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| | |
| Then, before the following line of /etc/bash.bashrc
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| [ -z "$PS1" ] && return
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| add this:
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| # per-user environment variables (non-interactive and interactive mode)
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| source $HOME/.bash_env
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| Now create a file ~/.bash_env (used by non-interactive sessions, namely commands launched via yarprun from another machine) containing these variables:
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| export ICUB_DIR=/home/icub/iCub
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| export ICUB_ROOT=$ICUB_DIR
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| export PATH=$PATH:/home/icub/iCub/bin
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| == Additional RobotCub software ==
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| === iCub: downloading the repository ===
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| In /home/icub, do:
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| cvs -d vislab@cvs.robotcub.org:/cvsroot/robotcub co iCub
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| For now, don't compile iCub but start installing YARP instead.
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| === YARP ===
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| Type this from our homedir:
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| cvs -d:pserver:anonymous@yarp0.cvs.sourceforge.net:/cvsroot/yarp0 login
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| cvs -z3 -d:pserver:anonymous@yarp0.cvs.sourceforge.net:/cvsroot/yarp0 co -P yarp2
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| cd yarp2
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| Enter yarp2/conf and do:
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| cp ExternalModules.cmake.template ExternalModules.cmake
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| then write the following lines in ExternalModules.cmake:
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| SET(EXTERNAL_MODULES icub)
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| SET(icub_DIR "/home/icub/iCub/src/modules")
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| We now have to install two FireWire IEEE-1394 libraries needed by dragonfly and dragonfly2: '''libraw1394''' and '''libdc1394'''. Rather than installing the Ubuntu packages, we compile them manually. Do these two sequences of commands from icub's home dir (pay attention to the path option given to ./configure). First '''libraw1394''':
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| wget http://www.linux1394.org/dl/libraw1394-2.0.2.tar.gz ''<-- or a newer version from http://www.linux1394.org/''
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| tar xzvf libraw1394-2.0.2.tar.gz
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| cd libraw1394-2.0.2/
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| ./configure --prefix=/usr
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| make
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| sudo make install
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| Now, as for '''libdc1394''', we follow the instructions in $ICUB_DIR/src/modules/dragonfly2/linux/readme.txt:
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| wget http://downloads.sourceforge.net/libdc1394/libdc1394-2.1.0.tar.gz?modtime=1200479950&big_mirror=0
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| tar xzvf libdc1394-2.1.0.tar.gz
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| cd libdc1394-2.1.0/
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| ./configure --prefix=/usr
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| which must say
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| Configuration (libdc1394):
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| libraw1394 support (Linux legacy): Enabled ''<-- required by yarpdev. If you obtain 'Disabled', check the libraw1394 installation''
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| Juju support (Linux new): Enabled
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| Mac OS X support: Disabled (Mac OS not detected)
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| Windows support: Disabled (Windows not detected)
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| IIDC-over-USB support: Disabled (libusb-1.0 not found)
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| and finally
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| make
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| sudo make install
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| Note: by default, in Ubuntu, only the administrator has access to the FireWire camera device files in /dev. So we need to manually add user icub into the video and disk groups:
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| sudo usermod -a -G video icub
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| sudo usermod -a -G disk icub
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| TODO: fix libdc1394 (yarpdev is giving "Can't set DC1394_CAPTURE_FLAGS_DEFAULT", both with dragonfly and dragonfly2)
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| TODO: fix the following modules -> lib_plxapi (Canbus)
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| Now
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| ccmake .
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| In CMake, type 'c' (whenever necessary) and turn on the following modules only:
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| CREATE_DEVICE_LIBRARY_MODULES
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| CREATE_LIB_MATH
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| ENABLE_icubmod_canmotioncontro
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| ENABLE_icubmod_dragonfly2
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| ENABLE_icubmod_icubarmcalibrat
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| ENABLE_icubmod_icubheadcalibra
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| ENABLE_icubmod_icublegscalibra
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| ENABLE_icubmod_pcan
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| ENABLE_icubmod_xsensmtx
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| ENABLE_yarpmod_serial
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| ENABLE_yarpmod_serialport
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| MERGE_DEVICE_LIBRARY_MODULES
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| === iCub: compiling and installing ===
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| Enter iCub/ and do:
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| ccmake .
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| c
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| Enable these modules only:
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| BUILD_IN_ROOT
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| (to be completed)
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| == Old setup (prior to 2009-05-21) ==
| |
| | |
| pc104 booted from a read-only memory.
| |
| | |
| after booting, it mounted a part of the hard-disk of icubsrv (the laptop, IP address 10.10.1.51).
| |
| | |
| after that, it ran the scripts that are found in /exports/code-pc104/pc104/hooks.
| |
| you can use those scripts for making some configuration permanent on pc104 and/or to run programs.
| |
| they set up the yarp namespace, they start yarp run, configure the keys for passwordless log-ins, etc.
| |
|
| |
|
| [[Category:Vislab]] | | [[Category:Vislab]] |